CN112756872A - Welding robot and welding robot control method - Google Patents
Welding robot and welding robot control method Download PDFInfo
- Publication number
- CN112756872A CN112756872A CN202110065899.5A CN202110065899A CN112756872A CN 112756872 A CN112756872 A CN 112756872A CN 202110065899 A CN202110065899 A CN 202110065899A CN 112756872 A CN112756872 A CN 112756872A
- Authority
- CN
- China
- Prior art keywords
- welding
- welding robot
- robot
- controller
- fan module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000003466 welding Methods 0.000 title claims abstract description 307
- 238000000034 method Methods 0.000 title claims abstract description 51
- 238000010438 heat treatment Methods 0.000 claims abstract description 30
- 230000008569 process Effects 0.000 claims abstract description 23
- 230000007613 environmental effect Effects 0.000 claims description 10
- 238000007664 blowing Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 230000009471 action Effects 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Resistance Welding (AREA)
- Lining Or Joining Of Plastics Or The Like (AREA)
Abstract
The application provides a welding robot and welding robot control method relates to welding robot technical field, and this welding robot includes: the robot comprises a robot body, and a welding gun, a controller, a fan module and a first air curtain device which are arranged on the robot body; the fan module is connected with the controller, and the controller is used for determining the heating power of the fan module according to the environment parameter of the welding robot and the welding process parameter and controlling the fan module to discharge air according to the heating power; the first air curtain device is arranged around the welding gun and used for gathering the air outlet of the fan module around the welding gun. By applying the embodiment of the application, the efficiency of the welding robot in outdoor welding operation execution can be improved, and the welding quality of the welding robot in outdoor welding can be ensured.
Description
Technical Field
The application relates to the technical field of welding robots, in particular to a welding robot and a welding robot control method.
Background
With the development of industry, welding robots are widely used. The welding robot can respectively carry out welding operation indoors and outdoors, and because the outdoor environment is complex, how to ensure the welding quality of the welding robot when carrying out welding outdoors becomes a research focus.
At present, when the outdoor temperature does not meet the requirement of welding operation of a welding robot, the welding robot needs to be heated in an artificial mode before and after welding, and wind prevention treatment can be carried out through a wind prevention device which is manually built.
However, the manual method in the prior art is inefficient, and meanwhile, the welding quality of the welding robot when welding is carried out outdoors cannot be guaranteed.
Disclosure of Invention
An object of the present application is to provide a welding robot and a control method of the welding robot, which can improve the efficiency of the welding robot when performing welding operation outdoors and ensure the welding quality of the welding robot when welding outdoors, aiming at the defects in the prior art.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
in a first aspect, an embodiment of the present application provides a welding robot, including: the robot comprises a robot body, and a welding gun, a controller, a fan module and a first air curtain device which are arranged on the robot body;
the fan module is connected with the controller, and the controller is used for determining the heating power of the fan module according to the environment parameter of the welding robot and the welding process parameter and controlling the fan module to exhaust air according to the heating power;
the first air curtain device is arranged around the welding gun in a surrounding mode and used for gathering the air outlet of the fan module around the welding gun.
Optionally, the welding robot further comprises: and the second air curtain device is arranged around the first air curtain device and used for gathering the air outlet of the fan module around the welding gun.
Optionally, the welding robot further comprises: a first supporting plate and a second supporting plate;
the first supporting plate is arranged on the inner side of a first adjusting plate in the second air curtain device, and the second supporting plate is arranged on the inner side of a second adjusting plate in the second air curtain device;
the first supporting plate and the second supporting plate are respectively connected with the controller through adjusting devices, and the controller is further used for adjusting the distance between the first supporting plate and/or the second supporting plate and the first air curtain device according to the welding parameters of the welding robot.
Optionally, the welding robot further comprises: the motor is arranged on the robot body and connected with the controller;
the adjusting device is connected with the motor, one end of the adjusting device is connected with the first supporting plate, and the other end of the adjusting device is connected with the second supporting plate;
the controller is used for controlling the motor to rotate according to the welding parameters of the welding robot so as to drive the adjusting device to drive the first supporting plate and/or the second supporting plate to move.
Optionally, the adjusting means comprises: belt, swivel nut, forward rotation lead screw, reverse rotation lead screw, swivel nut sets up forward rotation lead screw with the position that reverse rotation lead screw is connected, swivel nut with the belt is connected, the belt with the motor is connected, forward rotation lead screw with first fagging is connected, reverse rotation lead screw with the second fagging is connected.
Optionally, the welding robot further comprises: a temperature sensor disposed on the robot body;
the temperature sensor is connected with the controller;
the temperature sensor is used for collecting the temperature of the environment where the welding robot is located and sending the collected temperature to the controller.
Optionally, the welding robot further comprises: the wind speed sensor is arranged on the robot body;
the wind speed sensor is connected with the controller;
the wind speed sensor is used for acquiring the wind speed of the environment where the welding robot is located and sending the acquired wind speed to the controller;
the controller is further used for determining the air outlet speed of the fan module according to the air speed acquired by the air speed sensor and controlling the fan module to output air according to the air outlet speed.
In a second aspect, an embodiment of the present application further provides a welding robot control method, which is applied to a controller in the welding robot of the first aspect, and the method includes:
acquiring environmental parameters of a welding robot;
determining the heating power of a fan module in the welding robot according to the environmental parameters of the welding robot and the welding process parameters;
and controlling the fan module in the welding robot to exhaust air according to the heating power.
Optionally, the method further comprises:
and adjusting the distance between the first supporting plate and/or the second supporting plate of the second air curtain device in the welding robot and the first air curtain device according to the welding parameters of the welding robot.
Optionally, acquiring the wind speed of the environment where the welding robot is located;
determining the air outlet speed of the fan module according to the air speed of the environment where the welding robot is located;
and controlling the fan module to exhaust air according to the air outlet speed.
The beneficial effect of this application is:
the embodiment of the application provides a welding robot and a welding robot control method, and the welding robot comprises: the robot comprises a robot body, and a welding gun, a controller, a fan module and a first air curtain device which are arranged on the robot body; the fan module is connected with the controller, and the controller is used for determining the heating power of the fan module according to the environment parameter of the welding robot and the welding process parameter and controlling the fan module to discharge air according to the heating power; the first air curtain device is arranged around the welding gun and used for gathering the air outlet of the fan module around the welding gun. By adopting the welding robot provided by the embodiment of the application, after the controller comprehensively analyzes the environment parameters where the welding robot is and the welding process parameters, the controller sends a control instruction to the fan module, so that the fan module blows air out, and the air is output to the periphery of the welding gun through the first air curtain device.
That is to say, the wind of output through this first air curtain device can be when welding robot carries out welding operation, and the welding robot is last to wait that the welding region can preheat, can also keep warm to the region that has accomplished the welding to can also reduce the influence of the wind-force of welding robot place environment to welding quality, can improve the welding robot efficiency when carrying out welding operation outdoors like this and guarantee the welding quality of welding robot when welding outdoors.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a welding robot provided in an embodiment of the present application;
fig. 2(a) is a schematic structural diagram of a welding robot under a viewing angle according to an embodiment of the present application;
fig. 2(b) is a schematic structural diagram of a welding robot under another view angle provided by the embodiment of the present application;
fig. 2(c) is a schematic structural diagram of a welding robot under another view angle provided by an embodiment of the present application;
fig. 3 is a schematic structural diagram of a second curtain device according to an embodiment of the present disclosure;
fig. 4 is a schematic view of a welding robot for welding according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an adjusting device according to an embodiment of the present disclosure;
FIG. 6 is a schematic structural diagram of another welding robot provided in the embodiments of the present application;
fig. 7 is a schematic flowchart of a welding robot control method according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Fig. 1 is a schematic structural diagram of a welding robot according to an embodiment of the present application. As shown in fig. 1, the welding robot includes: the robot comprises a robot body 100, and a welding gun 101, a controller 102, a fan module 103 and a first air curtain device 104 which are arranged on the robot body 100;
the fan module 103 is connected with the controller 102, and the controller 102 is configured to determine the heating power of the fan module 103 according to the environmental parameter of the welding robot and the welding process parameter, and control the fan module 103 to output air according to the heating power.
The first air curtain device 104 is arranged around the welding gun 101 and used for gathering the air discharged by the fan module 103 around the welding gun 101.
The blower module 103 has heating and blowing functions, and may include a heating unit and a blowing unit, where the heating unit may be located at a blowing port of the blowing unit, so as to change the air blown out by the blowing unit into hot air. The staff accessible input device sends this welding robot present place environmental parameter (such as temperature, humidity, wind speed etc.) and welding process parameter (the material of welding object) for controller 102, of course, controller 102 also can directly acquire this welding robot present place environmental parameter through the sensor, if acquire the current ambient temperature who locates of this welding robot through temperature sensor, this application does not prescribe a limit to it. The welding process parameters are generally related to the temperature required during welding, and the welding conditions corresponding to the welding objects with different welding process parameters (such as material) are different, where the welding conditions may include the temperature to be reached by the welding area on the welding object before welding, the temperature to be maintained by the welding area on the welding object after welding, and the like, and are not limited in the present application. Generally, welding objects of different welding process parameters are stored in association with welding conditions.
The controller 102 may retrieve a corresponding welding condition from the memory according to a process parameter of a current welding object, and control a voltage output by the power module connected to the controller 102 based on the welding condition and a current ambient temperature, the controller 102 controls a power of the heating unit on the fan module 103 by controlling the voltage output by the power module, the power of the blowing unit on the fan module 103 may be a default value, and of course, the power of the blowing unit on the fan module 103 may also be changed according to a control instruction of the controller 102 without being limited by the present application. The controller 102 may control the power of the heating unit to make the fan module 103 output air according to the heating power.
The wind output by the fan module 103 can be input into the first air curtain device 104 through the flexible vent pipe, the first air curtain device 104 can gather the wind output by the fan module 103 around a corresponding welding area when the welding gun 101 performs welding, wherein the welding gun 101 is connected with the controller 102 and is used for executing welding operation according to a welding control instruction sent by the controller 103.
In an implementable embodiment, the specific structure of the welding robot is as shown in fig. 2(a), 2(b), 2 (c). When the welding robot is ready to perform a welding operation, the controller 102 (not shown) may first send a first control instruction to the fan module 103 (not shown) according to a welding condition corresponding to a process parameter of the welding object, and the fan module 103 may send hot air to the first air curtain device 104 based on the first control instruction, so as to preheat a region to be welded on the welding object, after a preset time period, the controller 102 may send a welding control instruction to a welding action executing mechanism (e.g., the welding gun 101) on the welding robot, so that the welding action executing mechanism performs the welding operation according to the welding control instruction, and the welding robot continues to blow air out from the first air curtain device 104 during the welding operation.
To sum up, this application provides a welding robot, this welding robot includes: the robot comprises a robot body, and a welding gun, a controller, a fan module and a first air curtain device which are arranged on the robot body; the fan module is connected with the controller, and the controller is used for determining the heating power of the fan module according to the environment parameter of the welding robot and the welding process parameter and controlling the fan module to discharge air according to the heating power; the first air curtain device is arranged around the welding gun and used for gathering the air outlet of the fan module around the welding gun. By adopting the welding robot provided by the embodiment of the application, after the controller comprehensively analyzes the environment parameters where the welding robot is and the welding process parameters, the controller sends a control instruction to the fan module, so that the fan module blows air out, and the air is output to the periphery of the welding gun through the first air curtain device.
That is to say, the wind of output through this first air curtain device can be when welding robot carries out welding operation, and the welding robot is last to wait that the welding region can preheat, can also keep warm to the region that has accomplished the welding to can also reduce the influence of the wind-force of welding robot place environment to welding quality, can improve the welding robot efficiency when carrying out welding operation outdoors like this and guarantee the welding quality of welding robot when welding outdoors.
Alternatively, as shown in fig. 2(a), as seen from fig. 2(a) above, the welding robot further includes: and the second air curtain device 300 is arranged around the first air curtain device 104, and is used for gathering the air outlet of the fan module 103 around the welding gun 101.
In order to clearly show the structure of the second curtain device 300, the second curtain device 300 in fig. 2(a) is enlarged, and the enlarged result is shown in fig. 3. The second curtain device 300 of FIG. 3 may include four panels, two of which may be adjustable and two of which may be non-adjustable. The adjustable plate surfaces are a first adjusting plate 301 and a second adjusting plate 302 in fig. 3, and the non-adjustable plate surfaces are a third plate surface 303 and a fourth plate surface 304 in fig. 3, wherein the first adjusting plate 301 is arranged opposite to the second adjusting plate 302, and the third plate surface 303 is arranged opposite to the fourth plate surface 304. Here, the first adjustment plate 301 and the second adjustment plate 302 are disposed generally in the direction perpendicular to the traveling direction of the welding machine, and the third plate surface 303 and the fourth plate surface 304 are disposed generally in the same direction as the traveling direction of the welding machine. The first adjusting plate 301, the second adjusting plate 302, the third plate 303 and the fourth plate 304 are respectively disposed around the first curtain device 104 in fig. 2 (a). The first air curtain device 104 may be specifically configured as an inner horn structure and an outer horn structure, as shown in fig. 2 (a).
The controller 102 is configured to determine a hot air heating power of the fan module 103 according to an environment parameter of the welding robot and a welding process parameter, and control the fan module 103 to output air according to the hot air heating power, and a flexible vent pipe connected to the fan module 103 may deliver the air to the second air curtain device 300, and may radiate the air from four plate surfaces of the second air curtain device 300.
In an implementable embodiment, a specific operational scenario of a welding robot that welds a weld can be as shown in fig. 4. When the welding robot is ready to execute welding operation, firstly, the controller 102 can send a first control instruction to the fan module 103 according to a welding condition corresponding to a welding process parameter, the fan module 103 can send hot air to the first air curtain device 104 and/or the second air curtain device 300 based on the first control instruction, so that an area to be welded on a welding object can be preheated, after a preset time period, the controller 102 can send a welding control instruction to a welding action executing mechanism on the welding robot according to welding seam tracking data detected by the laser module, so that the welding action executing mechanism executes the welding operation according to the welding control instruction, the first air curtain device 104 and/or the second air curtain device 300 continuously output hot air during the welding operation of the welding robot, so that the area to be welded can be preheated all the time, and the welded area is kept warm, and the hot air output by the first air curtain device 104 and/or the second air curtain device 300 can also reduce the influence of the wind force of the environment where the welding robot is located on the welding quality.
It should be noted that, in general, when the welding robot performs a welding task, both the first air curtain device 104 and the second air curtain device 300 will exhaust air, where the first air curtain device 104 mainly reduces the influence of the wind force of the environment where the welding robot is located on the welding quality, and the second air curtain device 300 mainly preheats the area to be welded on the welding object and keeps the temperature of the area where the welding is completed.
Alternatively, as can be seen from fig. 2(a) above, the welding robot further includes: a first spreader plate 401 and a second spreader plate 402. In order to clearly show the relationship between the first support plate 401 and the second support plate 402 and the second curtain device 300, the first support plate 401, the second support plate 402 and the second curtain device 300 in fig. 2(a) are enlarged, and the enlarged result is shown in fig. 5.
The first supporting plate 401 is disposed inside the first adjusting plate 301 of the second curtain device 300, and the second supporting plate 402 is disposed inside the second adjusting plate 302 of the second curtain device 300; the first supporting plate 401 and the second supporting plate 402 are respectively connected to the controller 102 through an adjusting device (not shown in fig. 5), and the controller 102 is further configured to adjust a distance between the first supporting plate 401 and/or the second supporting plate 402 and the first curtain device 104 according to a welding parameter of the welding robot.
The welding parameters of the welding robot generally refer to a welding speed, and the welding speed of the welding robot during the welding operation can be preset in a memory associated with the controller 102, and also can be detected in real time according to a welding speed detection device, and the detected welding speed is sent to the controller 102, which is not limited in the present application. The memory also stores the normal welding speed in advance. The controller 102 may compare the welding speed of the welding robot with a preset normal welding speed, and adjust the distance between the first supporting plate 401 and/or the second supporting plate 402 and the first curtain device 104 through the adjusting device according to the comparison result, that is, the controller 102 may expand the distance between the first supporting plate 401 and the second supporting plate 402 or reduce the distance between the first supporting plate 401 and the second supporting plate 402 through the adjusting device.
Optionally, fig. 5 may further include a motor 403 disposed on the robot body 100, the motor 403 is connected to the controller 102 (not shown in fig. 5), one end of the adjusting device is connected to the first supporting plate 401, and the other end of the adjusting device is connected to the second supporting plate 402; the adjusting device is connected with a motor 403; the controller 102 is configured to control the motor 403 to rotate according to the welding parameters of the welding robot, so as to drive the adjusting device to move the first supporting plate 401 and/or the second supporting plate 402.
Alternatively, as shown in fig. 5, the adjusting means includes: the automatic transmission device comprises a belt 404, a rotating nut 405, a forward rotating screw rod 406 and a reverse rotating screw rod 407, wherein the rotating nut 405 is arranged at the connecting position of the forward rotating screw rod 406 and the reverse rotating screw rod 407, the rotating nut 405 is connected with the belt 404, the belt 404 is connected with a motor 403, the forward rotating screw rod 406 is connected with a first supporting plate 401, and the reverse rotating screw rod 407 is connected with a second supporting plate 402.
The specific shapes of the first supporting plate 401 and the second supporting plate 402 can be rectangular respectively. The controller 102 may control the rotation angle and direction of the motor 403 according to the comparison result between the welding speed of the welding robot and the preset normal welding speed, and the motor 403 drives the rotating nut 405 to rotate in the forward direction or in the reverse direction through the belt 404.
In an embodiment, when the rotation nut 405 rotates in the forward direction, the forward rotation screw 406 and the reverse rotation screw 407 are respectively shortened, and the distance between the first support plate 401 and the second support plate 402 is shortened, i.e. the opening size of the second air curtain device 300 is reduced, and when the rotation nut 405 rotates in the reverse direction, the situation is contrary to the above, and will not be described in detail herein.
Specifically, when the welding speed of this welding robot is less than the normal welding speed that sets up in advance, controller 102 can send the distance to shorten control command to motor 403, motor 403 can shorten control command control swivel nut 405 forward rotation according to this distance, can shorten the distance between first fagging 401 and the second fagging 402 like this, can make second air curtain device 300 concentrated heating like this, can increase preheating of second air curtain device 300 around a welding zone, the time that keeps warm, and then guarantee the welding quality after welding robot carries out the welding task more.
When the welding speed of this welding robot is greater than the normal welding speed that sets up in advance, controller 102 can send apart from increase control command to motor 403, motor 403 can be according to this apart from increase control command control swivel nut 405 counter-rotation, can increase the distance between first fagging 401 and the second fagging 402 like this, can make second air curtain device 300 enlarge heating range like this, increase preheating of second air curtain device 300 around a welding area, the time of heat preservation, and then guarantee the welding quality after welding robot carries out the welding task more.
Fig. 6 is a schematic structural diagram of another welding robot provided in the embodiments of the present application. As shown in fig. 5, optionally, the welding robot further includes: a temperature sensor 500 provided on the robot body 100;
the temperature sensor 600 is connected with the controller 102; the temperature sensor 600 is used to collect the temperature of the environment where the welding robot is located, and send the collected temperature to the controller 102.
The temperature sensor 600 can be specifically arranged at a position of the robot body 100 far away from the direction of the welding gun 101, so that the influence of the welding temperature can be avoided, and the temperature of the environment where the welding robot is located, which is acquired by the temperature sensor 600, is inaccurate.
Optionally, the welding robot further comprises: an air velocity sensor 601 provided on the robot body 100; the wind speed sensor 601 is connected with the controller 102; the wind speed sensor 601 is used for acquiring the wind speed of the environment where the welding robot is located and sending the acquired wind speed to the controller 102; the controller 102 is further configured to determine an air outlet speed of the fan module 103 according to the air speed acquired by the air speed sensor 601, and control the fan module 103 to output air according to the air outlet speed.
The blower module 103 may be specifically disposed at a middle position of the robot body 100. The controller 102 may control the voltage output by the power module connected to the wind speed sensor 601 according to the wind speed collected by the wind speed sensor 601 and a preset wind speed threshold, where the magnitude of the voltage output by the power module may control the rotation speed of a motor connected to a blowing unit on the fan module 103, and a faster rotation speed represents a faster air outlet speed of the blowing unit, and a slower rotation speed represents a slower air outlet speed of the blowing unit. That is, the fan module 103 can output appropriate wind according to the wind speed of the environment where the welding robot is located, so as to reduce the influence of the wind speed of the environment where the welding robot is located on the welding quality when the welding task is executed.
A welding robot control method executed by the controller on the above-described welding robot provided by the present application is exemplified as follows with reference to the accompanying drawings. Fig. 7 is a flowchart illustrating a control method for a welding robot according to an embodiment of the present disclosure, where the method is applicable to a controller in the welding robot. As shown in fig. 7, the welding robot control method may include:
and S701, acquiring the environment parameters of the welding robot.
S702, determining the heating power of a fan module in the welding robot according to the environmental parameters of the welding robot and the welding process parameters.
And S703, controlling a fan module in the welding robot to output air according to the heating power.
The controller can acquire environmental parameters (such as temperature, humidity, wind speed and the like) of the welding robot acquired by a sensor in the welding robot, determine the heating power required by a fan module in the welding robot according to the environmental parameters of the welding robot and welding conditions corresponding to welding process parameters and pre-stored in a memory, finally send a control instruction corresponding to the required heating power to the fan module, and output hot air by the fan module according to the control instruction. Other details can be found in the description of the welding robot part above, and will not be described in detail here.
Optionally, the method further comprises: and adjusting the distance between the first supporting plate and/or the second supporting plate of the second air curtain device and the first air curtain device in the welding robot according to the welding parameters of the welding robot.
Optionally, the method further comprises: acquiring the wind speed of the environment where the welding robot is located; determining the air outlet speed of the fan module according to the air speed of the environment where the welding robot is located; and controlling the fan module to exhaust air according to the air outlet speed.
The principle and technical effect of the control method of the welding robot are similar to those of the welding robot, and are not described again here.
In the several embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. For example, the above-described method embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A welding robot, characterized in that it comprises: the robot comprises a robot body, and a welding gun, a controller, a fan module and a first air curtain device which are arranged on the robot body;
the fan module is connected with the controller, and the controller is used for determining the heating power of the fan module according to the environment parameter of the welding robot and the welding process parameter and controlling the fan module to exhaust air according to the heating power;
the first air curtain device is arranged around the welding gun in a surrounding mode and used for gathering the air outlet of the fan module around the welding gun.
2. The welding robot of claim 1, further comprising: and the second air curtain device is arranged around the first air curtain device and used for gathering the air outlet of the fan module around the welding gun.
3. The welding robot of claim 2, comprising: a first supporting plate and a second supporting plate;
the first supporting plate is arranged on the inner side of a first adjusting plate in the second air curtain device, and the second supporting plate is arranged on the inner side of a second adjusting plate in the second air curtain device;
the first supporting plate and the second supporting plate are respectively connected with the controller through adjusting devices, and the controller is further used for adjusting the distance between the first supporting plate and/or the second supporting plate and the first air curtain device according to the welding parameters of the welding robot.
4. The welding robot of claim 3, further comprising: the motor is arranged on the robot body and connected with the controller;
the adjusting device is connected with the motor, one end of the adjusting device is connected with the first supporting plate, and the other end of the adjusting device is connected with the second supporting plate;
the controller is used for controlling the motor to rotate according to the welding parameters of the welding robot so as to drive the adjusting device to drive the first supporting plate and/or the second supporting plate to move.
5. The welding robot of claim 4, wherein the adjustment device comprises: belt, swivel nut, forward rotation lead screw, reverse rotation lead screw, swivel nut sets up forward rotation lead screw with the position that reverse rotation lead screw is connected, swivel nut with the belt is connected, the belt with the motor is connected, forward rotation lead screw with first fagging is connected, reverse rotation lead screw with the second fagging is connected.
6. The welding robot of any one of claims 1-5, further comprising: a temperature sensor disposed on the robot body;
the temperature sensor is connected with the controller;
the temperature sensor is used for collecting the temperature of the environment where the welding robot is located and sending the collected temperature to the controller.
7. The welding robot of any one of claims 1-5, further comprising: the wind speed sensor is arranged on the robot body;
the wind speed sensor is connected with the controller;
the wind speed sensor is used for acquiring the wind speed of the environment where the welding robot is located and sending the acquired wind speed to the controller;
the controller is further used for determining the air outlet speed of the fan module according to the air speed acquired by the air speed sensor and controlling the fan module to output air according to the air outlet speed.
8. A welding robot control method applied to a controller in the welding robot according to any one of claims 1 to 7, the method comprising:
acquiring environmental parameters of a welding robot;
determining the heating power of a fan module in the welding robot according to the environmental parameters of the welding robot and the welding process parameters;
and controlling the fan module in the welding robot to exhaust air according to the heating power.
9. The method of claim 8, further comprising:
and adjusting the distance between the first supporting plate and/or the second supporting plate of the second air curtain device in the welding robot and the first air curtain device according to the welding parameters of the welding robot.
10. The method according to any one of claims 8 or 9, further comprising:
acquiring the wind speed of the environment where the welding robot is located;
determining the air outlet speed of the fan module according to the air speed of the environment where the welding robot is located;
and controlling the fan module to exhaust air according to the air outlet speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110065899.5A CN112756872B (en) | 2021-01-18 | 2021-01-18 | Welding robot and welding robot control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110065899.5A CN112756872B (en) | 2021-01-18 | 2021-01-18 | Welding robot and welding robot control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112756872A true CN112756872A (en) | 2021-05-07 |
| CN112756872B CN112756872B (en) | 2024-08-20 |
Family
ID=75702922
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110065899.5A Active CN112756872B (en) | 2021-01-18 | 2021-01-18 | Welding robot and welding robot control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112756872B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002219572A (en) * | 2001-01-22 | 2002-08-06 | Shigehiro Morikawa | High speed gas chamber type gas shield arc welding method and high-speed gas injection nozzle |
| CN101733978A (en) * | 2009-12-18 | 2010-06-16 | 西北有色金属研究院 | Platinum-niobium-copper three-layer metal composite wire and preparation method thereof |
| CN101862886A (en) * | 2010-06-10 | 2010-10-20 | 哈尔滨工业大学 | Hot wire consumable electrode gas protection welding method and realization device thereof |
| CN202015905U (en) * | 2011-02-28 | 2011-10-26 | 西安石油大学 | Heater for preheating before welding |
| CN102672447A (en) * | 2011-03-17 | 2012-09-19 | 沈翠珊 | Manufacturing method of high-purity nickel strap |
| DE102016001899A1 (en) * | 2016-02-18 | 2017-08-24 | Audi Ag | motor vehicle |
| CN208083720U (en) * | 2018-03-12 | 2018-11-13 | 揭阳市深科电子有限公司 | A kind of rectifier bridge welding continuous tunnel furnace |
| CN209380110U (en) * | 2018-12-13 | 2019-09-13 | 广州堀硝子汽车玻璃有限公司 | A kind of windshield terminal welding equipment |
| CN210209152U (en) * | 2019-07-01 | 2020-03-31 | 江苏卡邦电气科技股份有限公司 | Anti-oxidation welding robot |
| CN214236859U (en) * | 2021-01-18 | 2021-09-21 | 北京博清科技有限公司 | Welding robot |
-
2021
- 2021-01-18 CN CN202110065899.5A patent/CN112756872B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002219572A (en) * | 2001-01-22 | 2002-08-06 | Shigehiro Morikawa | High speed gas chamber type gas shield arc welding method and high-speed gas injection nozzle |
| CN101733978A (en) * | 2009-12-18 | 2010-06-16 | 西北有色金属研究院 | Platinum-niobium-copper three-layer metal composite wire and preparation method thereof |
| CN101862886A (en) * | 2010-06-10 | 2010-10-20 | 哈尔滨工业大学 | Hot wire consumable electrode gas protection welding method and realization device thereof |
| CN202015905U (en) * | 2011-02-28 | 2011-10-26 | 西安石油大学 | Heater for preheating before welding |
| CN102672447A (en) * | 2011-03-17 | 2012-09-19 | 沈翠珊 | Manufacturing method of high-purity nickel strap |
| DE102016001899A1 (en) * | 2016-02-18 | 2017-08-24 | Audi Ag | motor vehicle |
| CN208083720U (en) * | 2018-03-12 | 2018-11-13 | 揭阳市深科电子有限公司 | A kind of rectifier bridge welding continuous tunnel furnace |
| CN209380110U (en) * | 2018-12-13 | 2019-09-13 | 广州堀硝子汽车玻璃有限公司 | A kind of windshield terminal welding equipment |
| CN210209152U (en) * | 2019-07-01 | 2020-03-31 | 江苏卡邦电气科技股份有限公司 | Anti-oxidation welding robot |
| CN214236859U (en) * | 2021-01-18 | 2021-09-21 | 北京博清科技有限公司 | Welding robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112756872B (en) | 2024-08-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7122401B2 (en) | Air conditioning equipment control method, device and air conditioning equipment | |
| WO2018059048A1 (en) | Fan and oscillation control method therefor | |
| WO2018090775A1 (en) | Air conditioner control method and device and air conditioner | |
| CN107143994A (en) | Air-conditioning condensation prevention control method and indoor apparatus of air conditioner | |
| CN214236859U (en) | Welding robot | |
| CN108800469A (en) | Wind guide strip control method, device and the apparatus of air conditioning of the apparatus of air conditioning | |
| WO2018161436A1 (en) | Air conditioner control method and air conditioner | |
| CN109959127A (en) | Unit control method and device and air conditioner | |
| CN112756872A (en) | Welding robot and welding robot control method | |
| CN104279706A (en) | Air conditioning equipment and image recognition based air conditioning control method and system | |
| CN114982793B (en) | Intelligent food baking method and device | |
| CN111023247A (en) | Rapid heating and constant temperature control method and fan heater | |
| CN110500764B (en) | Fresh air machine core, fresh air machine, fresh air system and fresh air machine condensation prevention method | |
| CN110925984A (en) | Timed wind-sheltering and air-out method and system for target figure based on fuselage swinging vane linkage | |
| CN111963473B (en) | Fan control method and device and fan | |
| JPH03247939A (en) | Air-conditioner | |
| CN115546204B (en) | Pole piece wrinkling detection system, pole piece wrinkling detection method, pole piece wrinkling detection device, computer equipment and storage medium | |
| JP2017032248A (en) | Air blowing system and air blower control method | |
| JPS6212205Y2 (en) | ||
| JP2023001623A (en) | Learning device, inference device and air conditioner | |
| CN111023572A (en) | Rapid heating method of warm air blower and warm air blower | |
| CN110925987A (en) | Air outlet method and system for target figure to avoid wind based on linkage of swinging blades of machine body | |
| CN111023573A (en) | Rapid heating and constant temperature control method and fan heater | |
| CN111023574A (en) | Rapid heating and constant temperature control method and fan heater | |
| JP3185318B2 (en) | Spot tracking air conditioner |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |